Problem: Convert these bounded sensor observations into the supplied target frame and unit
Problem: Convert these bounded sensor observations into the supplied target frame and unit convention. Input: JSON with frame graph, target frame id, observations. Result: normalized or unsupported verdict, normalized observations, transform paths. Limits: Software/model evidence only; 65536 request bytes; 5 s execution.
10000 (raw units)
price
2
calls / 30d
1
unique payers
2026-09-10
updated
Provider
jobs.rqmtechnologies.com · discovered, not yet claimed by its owner
Payment (x402 accepts[])
[
{
"scheme": "exact",
"network": "eip155:8453",
"payTo": "0x8F43274b121663b18a0246E9908bac8eAC866C12",
"asset": "0x833589fCD6eDb6E08f4c7C32D4f71b54bdA02913",
"amount": "10000",
"maxTimeoutSeconds": 300
}
]Output schema
{
"bazaar": {
"info": {
"input": {
"body": {
"idempotency_key": "example-robotics.normalize-sensor-frames.v1",
"max_total_price": "0.010000",
"request": {
"frame_graph": {
"declared_axis_convention": "FLU",
"declared_handedness": "right",
"declared_length_unit": "m",
"declared_rotation_semantics": "active",
"declared_transform_direction": "parent_to_child",
"frames": [
{
"axis_convention": "FLU",
"frame_id": "base",
"handedness": "right",
"parent_frame_id": null,
"rotation": {
"kind": "quaternion",
"order": "wxyz",
"values": [
1,
0,
0,
0
]
},
"rotation_semantics": "active",
"transform_direction": "parent_to_child",
"translation": {
"unit": "m",
"values": [
0,
0,
0
]
}
},
{
"axis_convention": "FLU",
"frame_id": "tool",
"handedness": "right",
"parent_frame_id": "base",
"rotation": {
"kind": "matrix",
"values": [
[
1,
0,
0
],
[
0,
1,
0
],
[
0,
0,
1
]
]
},
"rotation_semantics": "active",
"transform_direction": "parent_to_child",
"translation": {
"unit": "m",
"values": [
0.4,
0,
0.7
]
}
}
],
"schema_version": "rqm.robotics.frame-convention-validation-request.v1",
"tolerances": {
"matrix_determinant": 1e-8,
"matrix_orthogonality": 1e-8,
"quaternion_norm": 0.000001
}
},
"observations": [
{
"frame_id": "tool",
"observation_id": "point-1",
"point": [
0,
0,
0
],
"unit": "m"
}
],
"schema_version": "rqm.robotics.sensor-frame-normalization-request.v1",
"target_frame_id": "base"
},
"schema_version": "rqm.jobs.bazaar-buyer-job-request.v1"
},
"bodyType": "json",
"method": "POST",
"type": "http"
},
"output": {
"example": {
"artifact_names": [
"normalized or unsupported verdict",
"normalized observations",
"transform paths"
],
"caller_next_step": "Fuse, compare, or archive normalized observations; repair the frame graph on unsupported.",
"capability_id": "robotics.normalize-sensor-frames.v1",
"duplicate": false,
"job_id": "job-robotics.normalize-sensor-frames.v1",
"product": "robotics",
"quote_id": "00000000-0000-4000-8000-000000000001",
"reservation_id": "00000000-0000-4000-8000-000000000002",
"result_schema_digest": "dbfa519d81d3b97f3c5421a90fe98eac6b01114faf295b86bd6346de6514350b",
"result_schema_id": "rqm.robotics.sensor-frame-normalization-result.v1",
"retrieval_token": "rqm_retrieval_<opaque-job-scoped-token>",
"retrieval_token_expires_in": 86400,
"retrieval_url": "https://jobs.rqmtechnologies.com/x402/buyer-jobs/robotics.normalize-sensor-frames.v1/jobs/job-robotics.normalize-sensor-frames.v1",
"schema_version": "rqm.jobs.bazaar-buyer-job-accepted.v1",
"status": "queued",
"x402_settlement_id": "00000000-0000-4000-8000-000000000003",
"x402_transaction_id": "0x<base-transaction>"
},
"type": "json"
}
},
"schema": {
"$schema": "https://json-schema.org/draft/2020-12/schema",
"properties": {
"input": {
"additionalProperties": false,
"properties": {
"body": {
"additionalProperties": false,
"properties": {
"idempotency_key": {
"maxLength": 128,
"minLength": 1,
"pattern": "^[A-Za-z0-9][A-Za-z0-9._:-]*$",
"type": "string"
},
"max_total_price": {
"pattern": "^(?:0|[1-9]\\d{0,13})(?:\\.\\d{1,6})?$",
"type": "string"
},
"request": {
"additionalProperties": false,
"properties": {
"frame_graph": {
"additionalProperties": false,
"properties": {
"declared_axis_convention": {
"enum": [
"ENU",
"NED",
"NWU",
"FLU",
"FRD"
],
"title": "Declared Axis Convention",
"type": "string"
},
"declared_handedness": {
"enum": [
"right",
"left"
],
"title": "Declared Handedness",
"type": "string"
},
"declared_length_unit": {
"enum": [
"m",
"cm",
"mm"
],
"title": "Declared Length Unit",
"type": "string"
},
"declared_rotation_semantics": {
"enum": [
"active",
"passive"
],
"title": "Declared Rotation Semantics",
"type": "string"
},
"declared_transform_direction": {
"enum": [
"parent_to_child",
"child_to_parent"
],
"title": "Declared Transform Direction",
"type": "string"
},
"frames": {
"items": {
"additionalProperties": false,
"properties": {
"axis_convention": {
"enum": [
"ENU",
"NED",
"NWU",
"FLU",
"FRD"
],
"title": "Axis Convention",
"type": "string"
},
"frame_id": {
"pattern": "^[A-Za-z][A-Za-z0-9_.:-]{0,63}$",
"title": "Frame Id",
"type": "string"
},
"handedness": {
"enum": [
"right",
"left"
],
"title": "Handedness",
"type": "string"
},
"parent_frame_id": {
"anyOf": [
{
"pattern": "^[A-Za-z][A-Za-z0-9_.:-]{0,63}$",
"type": "string"
},
{
"type": "null"
}
],
"default": null,
"title": "Parent Frame Id"
},
"rotation": {
"discriminator": {
"mapping": {
"matrix": "#/$defs/MatrixRotation",
"quaternion": "#/$defs/QuaternionRotation"
},
"propertyName": "kind"
},
"oneOf": [
{
"additionalProperties": false,
"properties": {
"kind": {
"const": "quaternion",
"default": "quaternion",
"title": "Kind",
"type": "string"
},
"order": {
"enum": [
"wxyz",
"xyzw"
],
"title": "Order",
"type": "string"
},
"values": {
"maxItems": 4,
"minItems": 4,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"title": "Values",
"type": "array"
}
},
"required": [
"values",
"order"
],
"title": "QuaternionRotation",
"type": "object"
},
{
"additionalProperties": false,
"properties": {
"kind": {
"const": "matrix",
"default": "matrix",
"title": "Kind",
"type": "string"
},
"values": {
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"type": "array"
},
{
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"type": "array"
},
{
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"type": "array"
}
],
"title": "Values",
"type": "array"
}
},
"required": [
"values"
],
"title": "MatrixRotation",
"type": "object"
}
],
"title": "Rotation"
},
"rotation_semantics": {
"enum": [
"active",
"passive"
],
"title": "Rotation Semantics",
"type": "string"
},
"transform_direction": {
"enum": [
"parent_to_child",
"child_to_parent"
],
"title": "Transform Direction",
"type": "string"
},
"translation": {
"additionalProperties": false,
"properties": {
"unit": {
"enum": [
"m",
"cm",
"mm"
],
"title": "Unit",
"type": "string"
},
"values": {
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"title": "Values",
"type": "array"
}
},
"required": [
"values",
"unit"
],
"title": "Translation",
"type": "object"
}
},
"required": [
"frame_id",
"translation",
"rotation",
"transform_direction",
"rotation_semantics",
"handedness",
"axis_convention"
],
"title": "CoordinateFrame",
"type": "object"
},
"maxItems": 64,
"minItems": 1,
"title": "Frames",
"type": "array"
},
"schema_version": {
"const": "rqm.robotics.frame-convention-validation-request.v1",
"default": "rqm.robotics.frame-convention-validation-request.v1",
"title": "Schema Version",
"type": "string"
},
"tolerances": {
"additionalProperties": false,
"properties": {
"matrix_determinant": {
"default": 1e-8,
"maximum": 0.01,
"minimum": 1e-12,
"title": "Matrix Determinant",
"type": "number"
},
"matrix_orthogonality": {
"default": 1e-8,
"maximum": 0.01,
"minimum": 1e-12,
"title": "Matrix Orthogonality",
"type": "number"
},
"quaternion_norm": {
"default": 0.000001,
"maximum": 0.01,
"minimum": 1e-12,
"title": "Quaternion Norm",
"type": "number"
}
},
"title": "Tolerances",
"type": "object"
}
},
"required": [
"frames",
"declared_length_unit",
"declared_transform_direction",
"declared_rotation_semantics",
"declared_handedness",
"declared_axis_convention"
],
"title": "FrameConventionValidationRequest",
"type": "object"
},
"observations": {
"items": {
"additionalProperties": false,
"properties": {
"frame_id": {
"maxLength": 64,
"minLength": 1,
"title": "Frame Id",
"type": "string"
},
"observation_id": {
"maxLength": 64,
"minLength": 1,
"title": "Observation Id",
"type": "string"
},
"orientation_xyzw": {
"anyOf": [
{
"maxItems": 4,
"minItems": 4,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"type": "array"
},
{
"type": "null"
}
],
"default": null,
"title": "Orientation Xyzw"
},
"point": {
"maxItems": 3,
"minItems": 3,
"prefixItems": [
{
"type": "number"
},
{
"type": "number"
},
{
"type": "number"
}
],
"title": "Point",
"type": "array"
},
"position_covariance": {
"anyOf": [
{
"items": {
"items": {
"type": "number"
},
"type": "array"
},
"maxItems": 3,
"type": "array"
},
{
"type": "null"
}
],
"default": null,
"title": "Position Covariance"
},
"unit": {
"enum": [
"m",
"cm",
"mm"
],
"title": "Unit",
"type": "string"
}
},
"required": [
"observation_id",
"frame_id",
"point",
"unit"
],
"title": "SensorObservation",
"type": "object"
},
"maxItems": 10000,
"minItems": 1,
"title": "Observations",
"type": "array"
},
"schema_version": {
"const": "rqm.robotics.sensor-frame-normalization-request.v1",
"default": "rqm.robotics.sensor-frame-normalization-request.v1",
"title": "Schema Version",
"type": "string"
},
"target_frame_id": {
"maxLength": 64,
"minLength": 1,
"title": "Target Frame Id",
"type": "string"
}
},
"required": [
"frame_graph",
"target_frame_id",
"observations"
],
"title": "SensorFrameNormalizationRequest",
"type": "object"
},
"schema_version": {
"const": "rqm.jobs.bazaar-buyer-job-request.v1"
}
},
"required": [
"schema_version",
"idempotency_key",
"max_total_price",
"request"
],
"type": "object"
},
"bodyType": {
"enum": [
"json"
],
"type": "string"
},
"method": {
"enum": [
"POST"
],
"type": "string"
},
"type": {
"const": "http",
"type": "string"
}
},
"required": [
"type",
"method",
"bodyType",
"body"
],
"type": "object"
},
"output": {
"properties": {
"example": {
"additionalProperties": false,
"properties": {
"artifact_names": {
"items": {
"type": "string"
},
"type": "array"
},
"caller_next_step": {
"type": "string"
},
"capability_id": {
"type": "string"
},
"duplicate": {
"type": "boolean"
},
"job_id": {
"type": "string"
},
"product": {
"enum": [
"wave",
"quantum",
"robotics"
]
},
"quote_id": {
"format": "uuid",
"type": "string"
},
"reservation_id": {
"format": "uuid",
"type": "string"
},
"result_schema_digest": {
"pattern": "^[a-f0-9]{64}$",
"type": "string"
},
"result_schema_id": {
"type": "string"
},
"retrieval_token": {
"pattern": "^rqm_retrieval_",
"type": "string"
},
"retrieval_token_expires_in": {
"minimum": 1,
"type": "integer"
},
"retrieval_url": {
"format": "uri",
"type": "string"
},
"schema_version": {
"const": "rqm.jobs.bazaar-buyer-job-accepted.v1"
},
"status": {
"enum": [
"queued",
"running",
"completed"
]
},
"x402_settlement_id": {
"format": "uuid",
"type": "string"
},
"x402_transaction_id": {
"type": "string"
}
},
"required": [
"schema_version",
"product",
"capability_id",
"job_id",
"status",
"quote_id",
"reservation_id",
"x402_settlement_id",
"x402_transaction_id",
"retrieval_url",
"retrieval_token",
"retrieval_token_expires_in",
"result_schema_id",
"result_schema_digest",
"caller_next_step",
"duplicate"
],
"type": "object"
},
"type": {
"type": "string"
}
},
"required": [
"type"
],
"type": "object"
}
},
"required": [
"input"
],
"type": "object"
}
}
}Use it
curl
curl "https://jobs.rqmtechnologies.com/x402/buyer-jobs/robotics.normalize-sensor-frames.v1" # -> 402 Payment Required, accepts[] lists how to pay # retry with a PAYMENT-SIGNATURE (or PAYMENT header) once paid
JavaScript
const res = await fetch("https://jobs.rqmtechnologies.com/x402/buyer-jobs/robotics.normalize-sensor-frames.v1");
if (res.status === 402) {
const { accepts } = await res.json();
// pay one of accepts[] via an x402 client, then retry with the payment header
}Python
import httpx
res = httpx.get("https://jobs.rqmtechnologies.com/x402/buyer-jobs/robotics.normalize-sensor-frames.v1")
if res.status_code == 402:
accepts = res.json()["accepts"]
# pay one of accepts[] via an x402 client, then retry with the payment headerMachine-readable
Everything on this page is also available as clean JSON at /resources/7634.json, and this resource appears in /discovery/resources and /discovery/search.